Object Conveying System with Synchronized Feature Point Position Correction
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Solution Overview
Problem
Existing object conveying systems face challenges in precisely measuring the three-dimensional position and orientation of large objects, especially when images from multiple cameras are captured at different times, leading to inaccuracies due to timing differences and movement of the object.
Innovation Solution
An object conveying system that includes a conveying apparatus, cameras capturing images of feature points, a position measuring and correcting portion to synchronize the positions of feature points, a line-of-sight calculating portion, and a position calculating portion applying a polygon with known shape to determine the object's three-dimensional position and orientation, using a triangle or other polygons with feature points as apexes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple cameras capture images of feature points at different times, then the system can capture images of large objects from multiple perspectives, but the timing differences cause inaccuracies in three-dimensional position measurement
Solution Approach 1:
The system performs preliminary actions by detecting the object's movement velocity before the images are captured, and uses this pre-detected velocity information to calculate and correct positional deviations caused by timing differences between multiple camera captures. This preliminary detection of motion parameters enables subsequent accurate three-dimensional position calculation despite asynchronous image acquisition.
Solution Approach 2:
The system introduces an intermediary correction mechanism that uses the detected movement velocity as a mediating parameter. This velocity information serves as an intermediary to bridge the timing gap between multiple camera captures, allowing the system to calculate what the feature point positions would have been at a common reference time, thereby enabling accurate three-dimensional reconstruction from asynchronously captured images.
2Productivity
If the conveyor continues moving to maintain productivity, then production efficiency increases, but the object's movement causes position deviations in captured images
Solution Approach 1:
The system implements feedback by continuously detecting the object's movement velocity during conveyor operation and using this real-time velocity information to correct position measurements. The detected velocity feeds back into the position calculation process, allowing the system to compensate for motion-induced errors and maintain measurement accuracy even while the conveyor operates continuously without stopping.
Solution Approach 2:
The system changes the approach from static positioning to dynamic parameter adjustment. Instead of requiring the object to be stationary for accurate measurement, the system adapts by incorporating movement velocity as a variable parameter in the position calculation. This parameter change allows the system to maintain measurement precision across different conveyor speeds and continuous motion conditions.
3Measurement precision
If three cameras are used to capture images of three feature points, then three-dimensional position can be calculated, but the system complexity increases
Solution Approach 1:
The system applies universality by using a single camera that can capture images of multiple feature points (at least three) within its field of view. This multi-functional approach replaces the need for multiple dedicated cameras, as one camera performs the function of capturing all necessary feature points simultaneously, thereby reducing system complexity while maintaining three-dimensional position calculation capability.
Solution Approach 2:
The system merges the functions of multiple cameras into a single camera system. Instead of having separate cameras for each feature point, the invention combines all imaging functions into one camera that captures multiple feature points in a single frame, simplifying the overall system architecture while preserving the ability to perform accurate three-dimensional position measurements.
Data Source
AI summary
Provided is an object conveying system including: a conveying apparatus that conveys an object; one or more cameras that capture images of feature points of the object; a position measuring portion that measures positions of the feature points from the acquired images; a detecting portion that detects a position or a movement velocity of the object; a position correcting portion that corrects the positions of the feature points so as to achieve positions at which the feature points are disposed at the same time; a line-of-sight calculating portion that calculates lines of sight that pass through the feature points on the basis of the corrected positions of the feature points and the positions of the cameras; and a position calculating portion that calculates a three-dimensional position of the object by applying a polygon having a known shape to the calculated lines of sight.